Playback of recorded moves not smooth

[Thot]

Youpi ! I did remember I documented it
Here is the process :

MX-28/64 firmware issues

I had a problem with my Poppy and I saw the firmware had an issue… I updated it to version 39 (instead of 36) But it seems pypot does not work with this version of firmware. Have you noticed that ? Is there a way to downgrade the dynamixel firmware ?